To automatically evaluate the generated curb points we measure the Chamfer distance (CD) [1]} of each cluster segment. The CD between two set of point clouds \(P_{1}, P_{2} \subseteq \mathbb {R}^{3}\)  is defined as:
\(\begin{aligned}& \text{CD}\left(P_{1}, P_{2}\right) = \\ &\frac{1}{|P_1|}\sum _{a \in P_{1}} \min _{b \in P_{2}}\Vert a-b\Vert _{2}^{2} + \frac{1}{|P_2|}\sum _{b \in P_{2}} \min _{a \in P_{1}}\Vert b-a\Vert _{2}^{2}\end{aligned}\) 
